一种新型的伪卫星辅助下的惯导初始对准方法

A New Method of Initial Alignment Assisted by Pseudo-Satellites

关键词:  惯导对准  伪卫星  气压高度辅助

Key words:  Alignment of INS  Pseudo-satellites  Atmospheric pressure altitude aided

摘要:

静基座且已知载体位置的情况下,INS可以快速地完成初始对准,但是在野外环境下通常无法快速地给出初始位置。伪卫星具有铺设简单快捷,不易受到破坏的特点,适合在未知环境下作为GNSS系统的补充来辅助定位。但是在GNSS拒止的情况下，如果单独使用伪卫星(PL)来进行定位会存在定位结果误差较大等问题,难以辅助INS系统完成初始对准。为了解决GNSS拒止情况下伪卫星辅助惯性导航系统进行初始对准存在的问题,提出了以高度传感器辅助下的PL定位算法,利用该算法得到准确的位置信息进而实现GNSS拒止条件下INS系统的初始对准,满足高精度的INS系统在复杂环境下的使用需求。

Abstract:

Under stationary base and the known location of the carrier, the INS can complete the initial alignment, but the obtainment of the initial location is difficult in the wild.Pseudo-satellites with the laying of simple and quick, less susceptible to damage, is suitable as a supplement positioning of GNSS in unknown environment.But in the case of GNSS denial,and used pseudo-satellite positioning alone it will cause large errors in positioning result, cannot assist the initial alignment of INS.In order to solve the problem in pseudo-satellite aided INS initial alignment under GNSS denial, this paper presents a pseudo-satellite positioning algorithmwith height sensor assisted.With accurate position information obtained by the algorithm, the initial alignment of INS is completed under the GNSS denial, meeting the need of high-precision INS in a complex environment